Localization by Voronoi diagrams correlation

Sensor-based localization is one of the fundamental problems in mobile robots. We present a technique for online robot localization in an a priori known indoor environment. Our approach uses the local Voronoi diagram, generated from a laser range scan, to match it against the global Voronoi diagram of the robot´s workspace. The result from this process is used to estimate the robot´s position in the map or to correct the robot´s odometry. Experiments with real data are presented to validate this algorithm.